Citation

Abstract

We propose an algorithm for mapping dynamic environments. Our
algorithm creates a representation of the environment where objects
move over time. Our approach is based on maintaining two occupancy
grids in parallel. One grid models the static parts of the
environment, and the other models the dynamic parts of the
environment. The union of the two provides a complete description of
the environment over time. We also apply a size-based classifier to
the cells in the dynamic map, to detect and track moving
objects. Results in simulation and with physical robots show a
reasonable rate of detection of moving objects.